#ifndef __IMU__H
#define __IMU__H

#endif

//----------------------------------------------------------------------------------------------------
// Variable declaration

extern volatile float twoKp;			// 2 * proportional gain (Kp)
extern volatile float twoKi;			// 2 * integral gain (Ki)
extern volatile float q0, q1, q2, q3;	// quaternion of sensor frame relative to auxiliary frame

//---------------------------------------------------------------------------------------------------
// Function declarations

//void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az);
void get_angle(float q0,float q1,float q2,float q3, float *yaw, float *pitch, float *roll);
//=====================================================================================================
// End of file
//=====================================================================================================
